US20200386204A1 - Control method for controlling a wind turbine and a wind turbine comprising control means configured for carrying out the control method - Google Patents

Control method for controlling a wind turbine and a wind turbine comprising control means configured for carrying out the control method Download PDF

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Publication number
US20200386204A1
US20200386204A1 US16/772,465 US201816772465A US2020386204A1 US 20200386204 A1 US20200386204 A1 US 20200386204A1 US 201816772465 A US201816772465 A US 201816772465A US 2020386204 A1 US2020386204 A1 US 2020386204A1
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US
United States
Prior art keywords
wind turbine
nacelle
signal
control method
variable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US16/772,465
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English (en)
Inventor
Octavio HERNANDEZ MASCARELL
Rosa-María Martínez-Vega
Ketan Daniel Tigga
Carlos Pizzaro De La Fuente
Jaime Suarez Aizpun
Pablo VITAL AMUCHASTEGUI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens Gamesa Renewable Energy Innovation and Technology SL
Original Assignee
Siemens Gamesa Renewable Energy Innovation and Technology SL
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Gamesa Renewable Energy Innovation and Technology SL filed Critical Siemens Gamesa Renewable Energy Innovation and Technology SL
Assigned to SIEMENS GAMESA RENEWABLE ENERGY INNOVATION & TECHNOLOGY S.L. reassignment SIEMENS GAMESA RENEWABLE ENERGY INNOVATION & TECHNOLOGY S.L. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: MARTÍNEZ-VEGA, Rosa-María, Vital Amuchastegui, Pablo, PIZZARO DE LA FUENTE, CARLOS, Suarez Aizpun, Jaime, TIGGA, Ketan Daniel, HERNANDEZ MASCARELL, OCTAVIO
Publication of US20200386204A1 publication Critical patent/US20200386204A1/en
Abandoned legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0296—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/30—Commissioning, e.g. inspection, testing or final adjustment before releasing for production
    • F03D13/35—Balancing static or dynamic imbalances
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • F03D9/20—Wind motors characterised by the driven apparatus
    • F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/96—Preventing, counteracting or reducing vibration or noise
    • F05B2260/966—Preventing, counteracting or reducing vibration or noise by correcting static or dynamic imbalance
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/326—Rotor angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/327—Rotor or generator speeds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/328—Blade pitch angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
    • F05B2270/802—Calibration thereof
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the following relates to a control method for controlling a wind turbine and to a wind turbine comprising control means configured for carrying out the control method.
  • Wind turbines suitable for generating electrical energy through the action of the wind on their blades are known to comprise a tower anchored to the ground, a rotor having at least two blades coupled thereto and a nacelle coupled to the tower by means of a yaw system, the nacelle including, among other elements, a generator and a transmission system which allows amplifying the rotating speed of the rotor in the generator.
  • the yaw system comprises at least one bearing fixed to the tower and at least one motor allowing rotation of the nacelle with respect to the tower.
  • imbalances caused in the rotor of a wind turbine are known to give rise to oscillations in the mechanical components thereof, i.e., in the transmission system, the yaw system and/or the generator, which result in the mechanical components becoming worn and even breaking. Due to their positioning, and/or to the fact that the blades of each wind turbine are not exactly the same, each blade can be subject to different aerodynamic forces. Among other consequences, said different aerodynamic forces cause an oscillation torque in the rotor which is transferred to the transmission system of the wind turbine and from there to the generator of the wind turbine. Said oscillation torque is also known as 1P (1 per revolution) oscillation because the vibrations caused by said torque oscillate at the pace of one turn of the rotor. This oscillation torque affects most components of the wind turbine.
  • patent document WO 2010/100271 A1 describes a yaw system for a wind turbine comprising a control system which continuously operates the at least one yaw motor in such a way that the yaw motor strives to maneuver the nacelle according to a set point, allowing the nacelle to divert from the set point if an external yaw wise torque on the nacelle exceeds an allowed torque capacity of the at least one yaw motor.
  • the control system can achieve a four-quadrant control, such that the yaw motor operates as a generator in the second or fourth quadrants, whereas the operation of at least one yaw motor in the first and third quadrants can be stopped in the event of a wind speed above a predetermined level.
  • This control system furthermore detects imbalances in the rotor using at least one property of the yaw motor and subsequently minimizes said imbalance by altering the pitch angle of at least one turbine blade.
  • An aspect relates to a control method for controlling a wind turbine and a wind turbine comprising control means configured for carrying out the control method.
  • An aspect relates to the control method for controlling a wind turbine comprising a rotor hub including a rotor with a shaft and at least two blades, a nacelle including a generator coupled to the shaft, the nacelle being rotatably coupled to the tower through a yaw system and the rotor hub being rotatably coupled to the nacelle, the control method comprising the following steps:
  • a control method which completely eliminates aerodynamic imbalance regardless of the measuring device used and the type of signal selected is thereby obtained.
  • control method can be carried out in real time and by any programmable logic controller, also known as PLC.
  • a second aspect of the present invention relates to the wind turbine comprising a tower, the rotor hub including a rotor with a shaft and at least two blades, the nacelle including a generator coupled to the rotor, the nacelle being rotatably coupled to the tower through a yaw system and the rotor hub being rotatably coupled to the nacelle, and control means configured for carrying out the control method.
  • FIG. 1 depicts a view of an embodiment of a wind turbine
  • FIG. 2 depicts a schematic sectioned view of the wind turbine shown in FIG. 1 .
  • FIGS. 1 and 2 show a wind turbine 1 comprising a tower 5 anchored to the ground, a rotor hub 2 including a rotor with a shaft 3 and at least two blades 13 coupled to the hub 2 , and a nacelle 4 rotatably coupled to the tower 5 through a yaw system 7 .
  • the nacelle 4 can rotate about an axis A extending along the length of the tower 5 for the purpose of orienting the blades 13 depending on the direction of the wind in order to obtain optimal performance of the wind turbine 1 .
  • the rotor hub 2 is rotatably coupled to the nacelle 4 , where it can rotate about a substantially horizontal axis B.
  • the rotor hub 2 comprises three blades 13 arranged offset 120° with respect to one another.
  • the nacelle 4 further comprises a generator 12 , at least one brake suitable for braking the rotation of the nacelle 4 with respect to the tower 5 , and a transmission system 11 through which the shaft 3 is connected with the generator 12 .
  • the purpose of the transmission system 11 is to obtain a suitable rotating speed in the generator 12 .
  • the yaw system 7 comprises at least one bearing 9 fixed to the tower 5 , and at least one motor 8 that enables rotation of the nacelle 4 with respect to the tower 5 .
  • the wind turbine 1 further comprises at least a first sensor 20 measuring a first variable relating to the nacelle 4 .
  • the first sensor 20 measures a periodic signal.
  • the first sensor 20 measures a current of the motor 8 of the yaw system 7 , said first sensor 20 being arranged in said yaw system 7 .
  • the first sensor 20 can measure the speed of the generator 12 or the acceleration of the nacelle 4 .
  • the first sensor 20 would be arranged in the generator 12 or in the nacelle 4 , respectively.
  • the wind turbine 1 comprises at least a second sensor 21 measuring a second variable relating to the generator 12 , said second sensor 21 being arranged in the nacelle 4 .
  • the second sensor 21 measures a periodic signal.
  • the wind turbine 1 comprises the second sensor 21 measuring the rotating speed of the generator 12 and a third sensor 22 which is used to obtain an angular reference with respect to a fixed point of the turn of the shaft 3 .
  • Said third sensor 22 is also arranged in the nacelle 4 .
  • the value of the azimuth angle of at least one of the blades 13 is obtained by means of the second sensor 21 and the third sensor 22 .
  • the value of the azimuth angle that is obtained is continuously corrected in each complete turn of the shaft 3 .
  • a plate (not depicted in the drawings) which rotates with said shaft 3 .
  • An inductive sensor (not depicted in the drawings) captures the signal that is produced when the plate passes by the inductive sensor, the data measured through the inductive sensor is then compared with the value of the azimuth angle obtained through the second sensor 21 and third sensor 22 , with possible deviations being corrected.
  • the wind turbine 1 further comprises control means configured for carrying out the control method that will be described in detail below.
  • the purpose of the control method for controlling the wind turbine according to the embodiment of the present invention is to detect said imbalance to then counteract the 1P frequency vibration generated by said imbalance by acting on the pitch angle of the corresponding blade/blades 13 causing the imbalance.
  • the control method comprises the following steps:
  • the first variable is measured through the first sensor 20 , with said first variable being the current of the motor 8 of the yaw system, the rotating speed of the generator 12 or the acceleration of the nacelle 4 .
  • the yaw moment is then estimated based on the signal of the data obtained from the first variable.
  • the periodic signal corresponding to said estimated yaw moment is processed based on said estimated yaw moment, and the 1P frequency component is extracted from said signal.
  • a calibration step is then carried out according to which a known imbalance is forced in at least one of the blades 13 and the imbalance it causes is measured, establishing a correction factor which is applied to the estimated yaw moment.
  • the calibration step allows identifying the relationship between the measurement of the first variable and the imbalance it represents.
  • a known forced angular error is applied to one of the blades 13 , and the signal of the first sensor 20 which measures a 1P frequency sine wave of certain amplitude is measured.
  • the proportionality between the measurement of the first sensor 20 and the error introduced in one of the blades 13 is established.
  • the phase of the imbalance forced in one of the blades 13 is determined by comparison with the azimuth measured by the first sensor 20 .
  • the calibration step is carried out once for each wind turbine 1 , applying the same correction factor to correct, from then on, the corresponding yaw moment estimate based on the data obtained from the first variable.
  • the signal corresponding to the estimated yaw moment is then processed and corrected to extract the 1P frequency component from said signal and the pitch angle of the corresponding blades 13 is adjusted to counteract the 1P frequency component of the signal of the estimated yaw moment after calibration, in turn comparing the pitch angle with the signal corresponding of the second variable.
  • the processing step for processing the signal corresponding to the estimated yaw moment to extract a 1P frequency component from said signal is carried out through a Goertzel algorithm.
  • This algorithm is known in the state of the art, so it is not considered necessary to explain it in more detail.
  • the amplitude and phase of the extracted 1P signal are known as a result of said algorithm. The amplitude provides the extent, in degrees, to which the blades 13 are offset, whereas the phase of the 1P signal is compared with the signal obtained through the measurement of the second variable.
  • the comparison of the phase of the extracted 1P signal and of the azimuth signal of the second variable provides for the offset, in degrees, between the two signals and therefore the imbalance to be corrected, i.e., it indicates in which blade or blades 13 the imbalance, which is corrected by means of adjusting the pitch angle of the corresponding blades 13 , occurs.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Power Engineering (AREA)
  • Wind Motors (AREA)
US16/772,465 2017-12-14 2018-12-04 Control method for controlling a wind turbine and a wind turbine comprising control means configured for carrying out the control method Abandoned US20200386204A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ES201700794A ES2716774A1 (es) 2017-12-14 2017-12-14 Método de control de un aerogenerador y un aerogenerador que comprende unos medios de control configurados para llevar a cabo el método de control
ESP201700794 2017-12-14
PCT/EP2018/083428 WO2019115283A1 (en) 2017-12-14 2018-12-04 Control method for controlling a wind turbine and a wind turbine comprising control means configured for carrying out the control method

Publications (1)

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US20200386204A1 true US20200386204A1 (en) 2020-12-10

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US16/772,465 Abandoned US20200386204A1 (en) 2017-12-14 2018-12-04 Control method for controlling a wind turbine and a wind turbine comprising control means configured for carrying out the control method

Country Status (6)

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US (1) US20200386204A1 (es)
EP (1) EP3695112A1 (es)
CN (1) CN111433453B (es)
BR (1) BR112020010461A2 (es)
ES (1) ES2716774A1 (es)
WO (1) WO2019115283A1 (es)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN112963303A (zh) * 2021-02-22 2021-06-15 上海电气风电集团股份有限公司 一种用于风电机组的偏航载荷监测控制方法及系统

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US7437264B2 (en) * 2006-06-19 2008-10-14 General Electric Company Methods and apparatus for balancing a rotor
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Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN112963303A (zh) * 2021-02-22 2021-06-15 上海电气风电集团股份有限公司 一种用于风电机组的偏航载荷监测控制方法及系统

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Publication number Publication date
BR112020010461A2 (pt) 2020-11-24
ES2716774A1 (es) 2019-06-14
EP3695112A1 (en) 2020-08-19
WO2019115283A1 (en) 2019-06-20
CN111433453A (zh) 2020-07-17
CN111433453B (zh) 2022-07-26

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